Path planning is the ability of a robot to search feasible and efficient path to the goal. The path has to satisfy some constraints based on the robot’s motion model and obstacle positions, and optimize some objective functions such as time to goal and distance to obstacle. In path planning, dynamic programming based approaches and sampling based approaches are widely used[22]. Fig.5 shows simulation results of potential field path planning and LQRRRT* path planning[27].
.. toctree:: :maxdepth: 2 :caption: Contents dynamic_window_approach/dynamic_window_approach bugplanner/bugplanner grid_base_search/grid_base_search dynamic_bfs_maze_solver/dynamic_bfs_maze_solver time_based_grid_search/time_based_grid_search model_predictive_trajectory_generator/model_predictive_trajectory_generator state_lattice_planner/state_lattice_planner prm_planner/prm_planner visibility_road_map_planner/visibility_road_map_planner vrm_planner/vrm_planner rrt/rrt cubic_spline/cubic_spline bspline_path/bspline_path catmull_rom_spline/catmull_rom_spline clothoid_path/clothoid_path eta3_spline/eta3_spline bezier_path/bezier_path quintic_polynomials_planner/quintic_polynomials_planner dubins_path/dubins_path reeds_shepp_path/reeds_shepp_path lqr_path/lqr_path hybridastar/hybridastar frenet_frame_path/frenet_frame_path coverage_path/coverage_path elastic_bands/elastic_bands